Denavit-Hartenberg Parameters for a Three-Link Robot
Denavit-Hartenberg Parameters for a Three-Link Robot
The Denavit–Hartenberg (DH) convention for assigning coordinate frames uses four variables to define the reference coordinate frame for each link in a robotic arm. This Demonstration lets you select a three-link combination of revolute (rotating) and prismatic (sliding) joints. You can then vary their DH parameters to create a variety of robot arms in different configurations.